
#ifndef commKTask_h
#define commKTask_h



#define GET_SPEED 						'E'
#define SET_SPEED 						'D'
#define SET_KP 								'P'
#define SET_KI 								'I'
#define SET_POSITION 					'G'
#define GET_POSITION 					'H'
#define SET_ENCODERS 					'O'
#define GET_ENCODERS 					'S'
#define GET_IRSENSOR 					'N'
#define GET_BUMPSENSOR 				'M'
#define GET_BATT_STATE 				'Q'
#define GET_SONARS 						'W'
#define GET_SW_VERSION 				'B'
#define SET_SOUND_JINGLE 			'R'
#define COMMUNICATION_ERROR 	'Z'



#define commTask_stackSize (( unsigned portSHORT )500)

#include "structures.h"

/*************************************************************************

**************************************************************************/
void executeCommTask(globals_t *pvParameters);



#endif
